Re: rtabmap ros2 zed2i

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros2-zed2i-tp10335p10374.html

"diff=0.100121s" that looks bad. On which machine are you doing this? Are the topic frame rate stable?

Testing on my side I saw that the frame rate output of zed2i default config was only about 10 Hz. I changed resolution to VGA in zed2i.yaml in zed_wrapper to get 30 Hz.

I also forgot to set approx_rgbd_sync, which should be false for zed camera (updated last post). After a doublecheck, approx_sync can also be set to false, as zed outputs all data with exactly same stamp (updated last post).

For rgbd_sync, it seems that even receiving images at 30 Hz, it was outputting at 10 Hz (expected 30 Hz). By setting topic_queue_size:=2 (updated last post) it helped to get >24 fps on /rtabmap/rgbd_image.

cheers,
Mathieu